This is a great reference for teams looking to do a swerve/pivot drive. I have always been amazed by 1640's design and the wiki page really helped me to understand how it came about. Plus it is really cool when you can go to there pits and play with an actual drive linked up to a vex controller. Great job guys.

Great code base - thanks for sharing. How do you calibrate the pivot encoders? My test pivot just drifts despite my attempt to calibrate. Is there a calibration VI buried in your test code that I missed?

Thanks! After the competition season is done, I plan on encouraging my lead programmer to publish the new and improved drive code.

At this point, we physically calibrate the wheels to zero, i.e. loosen the sensor set screw, turn the wheel to the desired angle to be "zero", turn the sensor until the code reports the angle is zero, and then tighten the set screw. The sensors don't seem to drift too much from the angle of the wheel, but we sometimes do need to re-calibrate. We keep meaning to put in auto-calibration code, but we haven't gotten there yet.

Last edited by jcbc : 03-19-2013 at 06:36 PM.
Reason: Forgot first paragraph